新型血管介入机器人应用可行性初探

The application of a newly-developed vascular intervention robot: preliminary study of its feasibility

目的验证自主研究开发的新型机器人辅助血管腔内介入系统能否有效地完成血管介入治疗及支架植入的复杂操作过程。方法采用石英玻璃模型和成年雌性家猪,分别于体外、体内进行血管介入操作及自膨式支架植入实验,验证该新型机器人血管介入系统应用的有效性。结果体外实验显示,该机器人系统成功完成了远程血管介入操作和支架植入释放操作;体内实验显示,双侧髂动脉支架成形术在机器人辅助下顺利完成,术中及术后未出现夹层、穿孔等手术相关并发症。结论本中心研究开发的机器人血管介入系统可有效地完成远程介入操作及自膨式支架植入释放操作。

Objective To introduce a newly-developed vascular intervention robot, which is independently designed by the authors＂ center, and to test and verify whether this robot-assisted endovascular interventional system can effectively accomplish the complex operation procedures of vascular interventional therapy and stent implantation. Methods Robot- assisted endovascular interventional system was used to perform both intravascular interventional operation and self-expanding stent implantation in quartz glass model （in vitro） and in adult female domestic pig （in vivo） in order to validate the effectiveness of this novel robot- assisted endovascular interventional system in clinical practice. Results Experiment in vitro showed that this robot-assisted endovaseular interventional system could successfully complete remote vascular interventional operation as well as stent release operation. Experiment in vivo proved that this robot-assisted endovaseular interventional system could smoothly accomplish stenting angioplasty of bilateral iliac arteries. During and after the operation, no procedure- related complications such as arterial dissection or perforation occurred. Conclusion This self-designed robot-assisted endovaseular interventional system can effectively accomplish the remote vascular interventional operation as well as the stent release operation.